CN112716606A - Three-degree-of-freedom minimally invasive surgery mechanical arm far-end motion center mechanism - Google Patents
Three-degree-of-freedom minimally invasive surgery mechanical arm far-end motion center mechanism Download PDFInfo
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- CN112716606A CN112716606A CN202011554550.XA CN202011554550A CN112716606A CN 112716606 A CN112716606 A CN 112716606A CN 202011554550 A CN202011554550 A CN 202011554550A CN 112716606 A CN112716606 A CN 112716606A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
Abstract
The invention discloses a three-degree-of-freedom minimally invasive surgery mechanical arm far-end motion center mechanism, which belongs to the technical field of robots, and realizes the motion of a surgical instrument linear displacement freedom degree T, a pitching freedom degree P and a yawing freedom degree Y through the driving action of a rotation output mechanism, a first linear motion output mechanism and a second linear motion output mechanism; compared with the traditional double-parallelogram RCM mechanism, the three-degree-of-freedom RCM mechanism needs to add a moving joint at the tail end of the mechanism for realizing the degree of freedom of linear displacement of the surgical instrument, the three-degree-of-freedom RCM mechanism effectively reduces the volume and the mass of the tail end of the minimally invasive surgical mechanical arm, improves the motion flexibility of the minimally invasive surgical mechanical arm, and greatly reduces the possibility of interference between different surgical mechanical arms and between the mechanical arm and a human body in the using process.
Description
Technical Field
The invention belongs to the technical field of robots, and relates to a three-degree-of-freedom minimally invasive surgery mechanical arm far-end motion center mechanism.
Background
Combining robotic technology with traditional minimally invasive techniques is generally recognized as a future surgical trend, with advantages including: 1) the operation mode of the doctor is improved, so that the doctor can operate in a pleasant environment or posture and is not easy to fatigue; 2) the degree of freedom of the surgical tool is increased, so that the flexibility of operation is improved, and the complex surgical operation is simplified; 3) intuitive motion control can be provided, and the defect of uncoordinated eyes and hands is overcome; 4) the advantages of stable operation and accurate positioning of the robot are exerted, and the operation quality is ensured; 5) a stereoscopic image can be provided, and the feeling of a doctor in the depth direction is restored; 6) robotic assistance has the potential for remote operation.
A Remote Center of Motion (RCM) mechanism refers to a mechanism in which a certain part or point is always constrained in a very small space or through a fixed point away from the mechanism itself during Motion, and the point is not constrained by a physical hinge. The characteristics of the mechanism are exactly matched with the operating characteristics of minimally invasive surgery, and the distal end fulcrum of the mechanism is arranged at the incision of the surgery, so that the surgical instrument and the incision of a patient can be prevented from being dragged in the surgery process, and the surgery safety is ensured.
The da vinci Surgical robot system produced by the Intuitive Surgical company in the United states occupies most of the market of minimally invasive Surgical robots in China. The minimally invasive surgery mechanical arm of the DaVinci surgery robot system adopts a double-parallelogram RCM mechanism, surgical instruments in the mechanism only have two degrees of freedom of deflection and pitching, a moving joint is added at the tail end of the double-parallelogram mechanism for realizing the degree of freedom of movement, and the size and the mass of the tail end of the minimally invasive surgery mechanical arm are increased by the mode, so that the problems that the mechanical arm is inflexible in movement, the interference occurs between different surgery mechanical arms and between the mechanical arm and a human body when the minimally invasive surgery mechanical arm is used and the like are solved.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a three-degree-of-freedom minimally invasive surgery mechanical arm far-end motion center mechanism, which has reasonable structural design, so that the volume and the mass of the tail end of the minimally invasive surgery mechanical arm are effectively reduced, the motion flexibility of the minimally invasive surgery mechanical arm is improved, and the possibility of interference among different surgery mechanical arms and between the mechanical arm and a human body in the using process is greatly reduced.
In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose:
the invention discloses a three-degree-of-freedom minimally invasive surgery mechanical arm far-end motion center mechanism which comprises a base, a support, a push-pull rod, a first driving slide block, a second driving slide block, a parallelogram upper rod, a parallelogram lower rod and a surgical instrument, wherein the push-pull rod is connected with the first driving slide block;
the support and the rotation output mechanism are fixed on the base, and the support is connected with a driven linear motion mechanism, a first linear motion output mechanism and a second linear motion output mechanism; one end of the parallelogram lower rod and one end of the parallelogram upper rod are hinged with a driven sliding block, the other end of the parallelogram lower rod and the other end of the parallelogram upper rod are hinged with a surgical instrument to be used, and the surgical instrument, the driven sliding block, the parallelogram lower rod and the parallelogram upper rod form a parallelogram;
the rotation output mechanism can drive the support to rotate around the rotation axis; two ends of the push-pull rod are respectively hinged with the driven linear motion mechanism and the first driving slide block, and the driven linear motion mechanism is hinged with the bracket at the intersection of the rotating axis and the driven moving axis; the first linear motion output mechanism drives the driven linear motion mechanism to rotate around a support hinged shaft through the push-pull rod, and the second linear motion output mechanism drives the parallelogram lower rod to move up and down along a second movement axis through the second driving sliding block.
Preferably, the bracket consists of a horizontal section and a vertical section; the first linear motion output mechanism is fixed on the horizontal section of the bracket, and the second linear motion output mechanism is fixed on the vertical section of the bracket; the rotation output mechanism can drive the support to rotate around the rotation axis of the horizontal section of the support.
Preferably, one end of the passive linear motion mechanism is hinged to the horizontal section of the support, the first driving sliding block is sleeved on a horizontal connecting rod between the first linear motion output mechanism and the support, and the first linear motion output mechanism drives the first driving sliding block to horizontally move along the first moving axis.
Further preferably, the rotation axis is parallel to a first movement axis, the first movement axis is perpendicular to a second movement axis, and the second movement axis is perpendicular to a parallelogram lower rod axis.
Preferably, the intersection of the rotation axis and the instrument axis of the surgical instrument is an RCM pivot point.
Preferably, a vertical connecting rod is arranged on the vertical section of the support, and the second driving sliding block is sleeved on the vertical connecting rod.
Preferably, the second driving slider is connected to the parallelogram lower rod through a sliding pair taking the axis of the parallelogram lower rod as an axis.
Preferably, the rotation output mechanism adopts a stepping motor or a servo motor.
Preferably, the first linear motion output mechanism and the second linear motion output mechanism adopt electric cylinders, hydraulic cylinders, pneumatic cylinders or linear sliding tables.
Compared with the prior art, the invention has the following beneficial effects:
firstly, the three-degree-of-freedom minimally invasive surgery mechanical arm RCM mechanism disclosed by the invention can provide the degree of freedom of linear motion for surgical instruments, and the motions of the linear displacement degree of freedom T, the pitching degree of freedom P and the yawing degree of freedom Y of the surgical instruments are realized through the driving action of the rotation output mechanism, the first linear motion output mechanism and the second linear motion output mechanism; compared with a common double-parallelogram RCM mechanism with two degrees of freedom, the tail end of the mechanism is not required to be added with a movable joint, so that the tail end quality of the mechanical arm for the minimally invasive surgery can be reduced, the mechanical arm is more flexible, and the motion performance of the mechanical arm is improved;
secondly, the size of the tail end of the mechanical arm for the minimally invasive surgery can be effectively reduced, the possibility of interference among different mechanical arms for the minimally invasive surgery and between the mechanical arm and a human body during use is reduced, and therefore secondary adjustment of the position of the mechanical arm for the minimally invasive surgery in the surgery process is avoided.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic diagram of the movement of the surgical instrument in a yaw degree of freedom Y;
FIG. 3 is a schematic diagram of the motion of the surgical instrument in a pitch degree of freedom P;
fig. 4 is a motion diagram of the surgical instrument in a linear displacement degree of freedom T.
Wherein: 1. a base; 2. a rotation output mechanism; 3. a passive linear motion mechanism; 3.1, a passive sliding block; 4. a parallelogram lower bar; 5. a parallelogram upper bar; 6. a second linear motion output mechanism; 6.1, a second driving slide block; 7. a second axis of movement; 8. a parallelogram lower link axis; 9. a surgical instrument; 10. an instrument axis; 11. a first axis of movement; 12. a first linear motion output mechanism; 12.1, a first driving slide block; 13. a support; 14. a push-pull rod; 15. a passive axis of movement; 16. an axis of rotation.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The invention is described in further detail below with reference to the accompanying drawings:
referring to fig. 1, which is a schematic view of the overall structure of the present invention, a three-degree-of-freedom minimally invasive surgery mechanical arm RCM mechanism includes a base 1, a rotation output mechanism 2, a passive linear motion mechanism 3, a parallelogram lower rod 4, a parallelogram upper rod 5, a second linear motion output mechanism 6, a surgical instrument 9, a first linear motion output mechanism 12, a support 13, and a push-pull rod 14.
The rotation output mechanism 2 drives the bracket 13 to rotate around the rotation axis 16; two ends of a push-pull rod 14 are respectively hinged with a driven linear motion mechanism 3 and a first driving sliding block 12.1, the driven linear motion mechanism 3 is hinged with a support 13 at the intersection point of a rotating axis 16 and a driven moving axis 15, a first linear motion output mechanism 12 drives the driven linear motion mechanism 3 to rotate around a hinged shaft with the support 13 through the push-pull rod 14, and a second linear motion output mechanism 6 drives a parallelogram lower rod 4 to move up and down along a second moving axis 7 through a second driving sliding block 6.1.
The base 1 is fixedly connected with the rotation output mechanism 2, the driven linear motion mechanism 3 is hinged with the bracket 13, the driven slide block 3.1 is respectively hinged with the parallelogram lower rod 4 and the parallelogram upper rod 5, the first linear motion output mechanism 12 is fixedly connected with the bracket 13, the first linear motion output mechanism 12 drives the first driving slide block 12.1 to move along the first movement axis 11, the second linear motion output mechanism 6 is fixedly connected with the bracket 13, the second linear motion output mechanism 6 drives the second driving slide block 6.1 to move along the second movement axis 7, the second driving slide block 6.1 is connected with the parallelogram lower rod 4 through a moving pair taking the parallelogram lower rod axis 8 as a shaft, the surgical instrument 9 is respectively hinged with the parallelogram lower rod 4 and the parallelogram upper rod 5 and simultaneously forms a parallelogram with the driven slide block 3.1, the parallelogram lower rod 4 and the parallelogram upper rod 5, the rotating axis 16 is parallel to the first moving axis 11, the first moving axis 11 is perpendicular to the second moving axis 7, the second moving axis 7 is perpendicular to the parallelogram lower rod axis 8, and the intersection point of the rotating axis 16 and the instrument axis 10 is the RCM fulcrum.
The working process of the invention is mainly realized by the following method:
referring to fig. 2, the rotation output mechanism 2 drives the bracket 13 to rotate around the rotation axis 16, that is, the rotation output mechanism 2 can drive the bracket 13 to swing left and right, and the rotation axis 16 intersects with the instrument axis 10 at the RCM point, so that the surgical instrument 9 can move around the RCM fulcrum in the swing degree of freedom Y; referring to fig. 3 and 4, as the surgical instrument 9, the passive slider 3.1, the parallelogram lower rod 4 and the parallelogram upper rod 5 form a parallelogram, and the second movement axis 7 is perpendicular to the axis 8 of the parallelogram lower rod, the surgical instrument 9 can realize the movement on the pitching degree of freedom P and the linear displacement degree of freedom T around the RCM fulcrum under the driving of the first linear motion output mechanism 12 and the second linear motion output mechanism 6, and the accurate control of the pose of the surgical instrument can be realized by controlling the movement amount of the two mechanisms at the same time.
In the present embodiment, the rotation output mechanism 2, the first linear motion output mechanism 12, and the second linear motion output mechanism 6 are selected as the drive source, and of course, the functions of the mechanisms can still be realized by selecting other joints as the drive source. The rotation output mechanism 2 may be a stepping motor or a servo motor, and the first linear motion output mechanism 12 and the second linear motion output mechanism 6 may be an electric cylinder, a hydraulic cylinder, a pneumatic cylinder, or a linear slide.
In conclusion, the three-degree-of-freedom minimally invasive surgery mechanical arm RCM mechanism disclosed by the invention realizes the motions of the linear displacement freedom T, the pitching freedom P and the deflection freedom Y of the surgical instrument through the driving actions of the rotation output mechanism, the first linear motion output mechanism and the second linear motion output mechanism; compared with the traditional double-parallelogram RCM mechanism, the mechanism needs to add a moving joint at the tail end of the mechanism for realizing the degree of freedom of linear displacement of the surgical instrument, the RCM mechanism with 3 degrees of freedom provided by the invention effectively reduces the volume and the quality of the tail end of the mechanical arm for minimally invasive surgery, improves the motion flexibility of the mechanical arm for minimally invasive surgery, and greatly reduces the possibility of interference among different surgical mechanical arms and between the mechanical arm and a human body in the using process.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.
Claims (9)
1. A three-degree-of-freedom minimally invasive surgery mechanical arm far-end motion center mechanism is characterized by comprising a base (1), a support (13), a push-pull rod (14), a first driving slider (12.1), a second driving slider (6.1), a parallelogram upper rod (5), a parallelogram lower rod (4) and a surgical instrument (9);
the support (13) and the rotation output mechanism (2) are fixed on the base (1), and the support (13) is connected with a driven linear motion mechanism (3), a first linear motion output mechanism (12) and a second linear motion output mechanism (6); one end of the parallelogram lower rod (4) and one end of the parallelogram upper rod (5) are hinged with a driven sliding block (3.1), the other end of the parallelogram lower rod is hinged with a surgical instrument (9) to be used, and the surgical instrument (9), the driven sliding block (3.1), the parallelogram lower rod (4) and the parallelogram upper rod (5) form a parallelogram;
the rotation output mechanism (2) can drive the bracket (13) to rotate around a rotation axis (16); two ends of the push-pull rod (14) are respectively hinged with the driven linear motion mechanism (3) and the first driving slide block (12.1), and the driven linear motion mechanism (3) is hinged with the bracket (13) at the intersection point of the rotating axis (16) and the driven moving axis (15); the first linear motion output mechanism (12) drives the driven linear motion mechanism (3) to rotate around a hinge shaft of the bracket (13) through the push-pull rod (14), and the second linear motion output mechanism (6) drives the parallelogram lower rod (4) to move up and down along the second movement axis (7) through the second driving slide block (6.1).
2. The three-degree-of-freedom minimally invasive surgical manipulator distal motion center mechanism according to claim 1, wherein the support (13) is composed of a horizontal section and a vertical section; the first linear motion output mechanism (12) is fixed on the horizontal section of the bracket (13), and the second linear motion output mechanism (6) is fixed on the vertical section of the bracket (13); the rotation output mechanism (2) can drive the bracket (13) to rotate around a rotation axis (16) of the horizontal section of the bracket.
3. The three-degree-of-freedom minimally invasive surgery mechanical arm distal end motion center mechanism according to claim 1, wherein one end of the passive linear motion mechanism (3) is hinged to a horizontal section of the support (13), the first driving slider (12.1) is sleeved on a horizontal connecting rod between the first linear motion output mechanism (12) and the support (13), and the first linear motion output mechanism (12) drives the first driving slider (12.1) to move horizontally along the first moving axis (11).
4. The mechanism as claimed in claim 3, wherein the rotation axis (16) is parallel to the first movement axis (11), the first movement axis (11) is perpendicular to the second movement axis (7), and the second movement axis (7) is perpendicular to the parallelogram lower rod axis (8).
5. The three-degree-of-freedom minimally invasive surgical manipulator distal motion center mechanism according to claim 1, wherein an intersection point of the rotation axis (16) and an instrument axis (10) of a surgical instrument (9) is an RCM fulcrum.
6. The mechanism of the three-degree-of-freedom minimally invasive surgery mechanical arm far-end motion center according to claim 1 is characterized in that a vertical connecting rod is arranged on a vertical section of the bracket (13), and the second driving sliding block (6.1) is sleeved on the vertical connecting rod.
7. The mechanism of the remote motion center of the robotic arm for minimally invasive surgery with three degrees of freedom according to claim 1, characterized in that the second driving slider (6.1) is connected with the parallelogram lower rod (4) through a sliding pair taking the axis (8) of the parallelogram lower rod as an axis.
8. The three-degree-of-freedom minimally invasive surgery mechanical arm distal end motion center mechanism according to any one of claims 1 to 7, characterized in that a stepping motor or a servo motor is adopted as the rotation output mechanism (2).
9. The mechanism for the center of motion of the distal end of the robotic arm for minimally invasive surgery with three degrees of freedom according to any one of claims 1 to 7, wherein the first linear motion output mechanism (12) and the second linear motion output mechanism (6) are electric cylinders, hydraulic cylinders, pneumatic cylinders or linear sliding tables.
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| CN202011554550.XA CN112716606A (en) | 2020-12-24 | 2020-12-24 | Three-degree-of-freedom minimally invasive surgery mechanical arm far-end motion center mechanism |
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| CN202011554550.XA CN112716606A (en) | 2020-12-24 | 2020-12-24 | Three-degree-of-freedom minimally invasive surgery mechanical arm far-end motion center mechanism |
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| WO2022249524A1 (en) * | 2021-05-28 | 2022-12-01 | ソニーグループ株式会社 | Arm device |
| WO2023180302A1 (en) * | 2022-03-21 | 2023-09-28 | Karl Storz Se & Co. Kg | Medical kinematic system having a virtual fulcrum, medical robot, and use of a medical kinematic system and a medical robot |
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